Online ISSN
1751-8652
Print ISSN
1751-8644
IET Control Theory & Applications
Volume 5, Issue 5, 17 March 2011
Volumes & issues:
Volume 5, Issue 5
17 March 2011
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- Author(s): P. Chen ; H. Qin ; M. Sun ; X. Fang
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 655 –662
- DOI: 10.1049/iet-cta.2009.0548
- Type: Article
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p.
655
–662
(8)
The study considers the problem of global adaptive stabilisation for a class of uncertain non-linear systems in which the uncertainty may not be parameterised. With the aid of the partition technique of unity in differential topology, global approximation of a function using neural networks is obtained. The usefulness of the approximation theory is shown in the design of a global adaptive neural network controller. It is proved that the proposed design method is able to ensure boundedness of all the signals in the closed loop, and the state variables converge to zero asymptotically. - Author(s): X. Liu ; W. Yu ; L. Wang
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 663 –668
- DOI: 10.1049/iet-cta.2010.0206
- Type: Article
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p.
663
–668
(6)
This study addresses the stability problem of two-dimensional (2-D) positive systems described by Roesser model and involving delays in the states. The delays are time varying and bounded. A necessary and sufficient stability condition is established for such systems. It is shown that a 2-D positive system with time-varying delays is asymptotically stable for any bounded delays if and only if the corresponding constantly delayed system is asymptotically stable, or equivalently, if and only if the sum of the system matrices is a Schur matrix. An example illustrates the theoretical result. - Author(s): Y. Luo ; Y.Q. Chen ; H.-S. Ahn ; Y. Pi
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 669 –680
- DOI: 10.1049/iet-cta.2009.0544
- Type: Article
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p.
669
–680
(12)
In this study, a simulation model of permanent magnet synchronous motor (PMSM) position servo system is presented briefly first, then, a dynamic high order periodic adaptive learning compensation (HO-PALC) scheme is proposed for cogging effect on PMSM position and velocity servo tasks. The cogging torque is considered as a position-dependent disturbance that is periodic. The key idea of the implemented cogging disturbance compensation method is to use past information of more than one position period along the state axis to update the current adaptation learning law. Simulation results illustrate the effectiveness of the proposed high order PALC method. Furthermore, the dynamic item in the HO-PALC can guarantee the stability in the real experimental system with unexpected noise and unmodelled dynamics. Experimental validation is presented to show the performance with proposed dynamic high order periodic adaptive cogging compensation scheme. The advantage of the dynamic HO-PALC is demonstrated through the comparison with the first order periodic adaptive learning compensation. - Author(s): P. Krishnamurthy and F. Khorrami
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 681 –692
- DOI: 10.1049/iet-cta.2009.0565
- Type: Article
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p.
681
–692
(12)
An adaptive output-feedback control design technique is proposed for a class of feedforward systems with input-to-state stable (ISS) appended dynamics in a block triangular (feedforward) structure. The system contains uncertain functions involving all states with the assumed bounds on uncertain functions allowed to contain crossproducts of unknown parameters and unmeasured states. The control design is based on the dual dynamic high-gain scaling technique and introduces a novel adaptation dynamics and scaling dynamics to globally stabilise the system using output feedback. The ISS appended dynamics are coupled with all the system states and the input and the ISS Lyapunov inequalities also feature crossproducts of unknown parameters and unmeasured states. The proposed control design does not require any knowledge of magnitude bounds on unknown parameters. - Author(s): S. Bi ; M. Deng ; S. Wen
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 693 –699
- DOI: 10.1049/iet-cta.2010.0232
- Type: Article
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p.
693
–699
(7)
In this paper, operator-based output tracking control for non-linear uncertain systems with unknown time-varying delays is considered by using the robust right coprime factorisation approach and delay compensating operator. The property of the time-varying delays is analysed in detail, and a delay compensating operator is designed. Based on the proposed design scheme, the output tracking performance is realised. Also, an example about the temperature control process of an aluminium plate with Peltier element actuator is given to demonstrate the validity of the theoretical analysis, and the effectiveness of the proposed design scheme is also confirmed by the simulation results. - Author(s): H. Ye ; W. Gui ; Z.-P. Jiang
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 700 –712
- DOI: 10.1049/iet-cta.2010.0042
- Type: Article
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p.
700
–712
(13)
This study proposes a novel backstepping technique for non-linear cascade systems whose driven subsystems have a feedforward structure and include higher order terms. A small control is first assigned to stabilise the driven subsystem, and a simple backstepping procedure is then followed. When dealing with the driven subsystem, we adopt an approach of using a small control to attenuate the higher order term, rather than the usual method in which the higher order term is tackled under the guidance of a single Lyapunov function. The stability analysis is carried out using some boundedness information to explicitly compute the higher order term, and the global asymptotical stability of the whole closed-loop system is obtained using the ‘converging-input bounded-state’ criterion. This is in sharp contrast with previous designs where (involved) Lyapunov functions are utilised in both the control design and stability analysis. As applications, global stabilisation designs are presented for several classical mechanical systems including the inertia wheel pendulum, the translational oscillator with rotating actuator and the cart–pole system. - Author(s): X. Gao ; K.L. Teo ; G.-R. Duan ; X. Zhang
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 713 –720
- DOI: 10.1049/iet-cta.2010.0145
- Type: Article
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713
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This study investigates the robust stability of discrete-time descriptor polytopic systems. Necessary and sufficient conditions for robust stability expressed as parameterised linear matrix inequalities (LMIs) are obtained. Furthermore, the parameterised LMIs are reduced to parameter-independent and finite-dimensional LMIs. Finally, two numerical examples are given, illustrating the effectiveness of the proposed method. - Author(s): Z.H. Ismail and M.W. Dunnigan
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 721 –735
- DOI: 10.1049/iet-cta.2010.0174
- Type: Article
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p.
721
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(15)
This study presents a novel tracking control scheme for an underwater vehicle-manipulator system (UVMS) where the proposed controller is not only used to track the prescribed sub-region but also allows the use of the self-motion to perform various sub-tasks (i.e. drag minimisation, obstacle avoidance and manipulability) because of the kinematically redundant system. In the proposed control scheme, the desired primary task of the UVMS is specified as two sub-regions that are assigned for the vehicle and end-effector. Despite the parametric uncertainty associated with the underwater dynamic model, the controller ensures the sub-task tracking without affecting the sub-region and attitude tracking control objective. The Lyapunov-type approach is utilised to design the controller and an extension to an adaptive-robust control scheme with multiple sub-regions and sub-task objectives is also performed to illustrate the flexibility of the approach. The presence of variable ocean currents creates hydrodynamic forces and moments that are not well known or predictable, even though they are bounded. Therefore the control task of tracking a prescribed sub-region trajectory is challenging because of these additive bounded disturbances. Furthermore, multiple sub-task criteria that are formulated using a weighted-sum approach are added to the control objective. Simulation results are presented to demonstrate the performance of the proposed control law.
Global adaptive neural network control for a class of uncertain non-linear systems
Necessary and sufficient asymptotic stability criterion for 2-D positive systems with time-varying state delays described by Roesser model
Dynamic high order periodic adaptive learning compensator for cogging effect in permanent magnet synchronous motor servo system
Adaptive output-feedback control of a general class of uncertain feedforward systems via a dynamic scaling approach
Operator-based output tracking control for non-linear uncertain systems with unknown time-varying delays
Backstepping design for cascade systems with relaxed assumption on Lyapunov functions
Necessary and sufficient condition for robust stability of discrete-time descriptor polytopic systems
Tracking control scheme for an underwater vehicle-manipulator system with single and multiple sub-regions and sub-task objectives
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- Author(s): M.A. García ; M.E. Salgado ; E.I. Silva
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 736 –743
- DOI: 10.1049/iet-cta.2010.0328
- Type: Article
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p.
736
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(8)
In this study, a methodology to compute achievable performance bounds for non-right-invertible, stable, discrete-time MIMO systems is proposed. This methodology is based on the definition of a new performance index, which is the cumulative, squared and exponentially weighted tracking error to a step reference. The results include expressions for the optimal value of this performance index and for the Youla parameter that is able to achieve such performance. For a particular class of single-input multiple-output plants, closed-form expressions depending on the dynamic features of the plant are also obtained. A discussion on the selection of the speed of decay of the exponential weight and its influence on optimal closed-loop stability is included. Numerical examples are presented to illustrate the results. - Author(s): M.L. Corradini ; A. Cristofaro ; F. Giannoni
- Source: IET Control Theory & Applications, Volume 5, Issue 5, p. 744 –749
- DOI: 10.1049/iet-cta.2010.0141
- Type: Article
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p.
744
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(6)
In this study an alternative characterisation of the null controllable region for linear systems subject to input saturation with strictly positive real eigenvalues is proposed. First an outer estimate of the null controllable region is obtained and then an iterated convexification technique is developed.
Achievable performance bounds for tall MIMO systems
Computation of null controllable regions for antistable linear systems subject to input saturation: an iterative approach
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